Real-world metrics with SDK 2.0

[BHerl1]

I do find suggestions for how to get real-world coordinates and metrics using the old SDK (QueryVertices and ProjectDepthToCamera, iirc). But are there similar APIs in SDK 2.0?

To be precise: I need to estimate the actual (real-world) size of objects in the depth-map from a D435. Mathematically I should be ok if I dig up focal-length and sensor-size for the camera - or rather the equivalents for the depth-sensors - but is there an API? Perhaps someone more knowledgable than myself has written an example somewhere?

Regards,

- Bjarne

[MartyG · Accepted solution]

RealSense SDK 2.0, like its Librealsense 1 predecessor, uses 'Projection' instructions for processing depth coordinates. The link below documents the Projection instructions for SDK 2.0.

https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0 Projection in RealSense SDK 2.0 · IntelRealSense/librealsense Wiki · GitHub

[BHerl1]

Thanks MartyG!

Wasn't aware of the fact that units of 3D point mapping is meters... Do you know of examples or demos actually using this to calculate e.g. volumes of objects?

Regards,

- Bjarne

[MartyG]

Actually, a new sample program called Measure has just been added to the latest 2.9.1 release of RealSense SDK 2.0.

https://github.com/IntelRealSense/librealsense/tree/master/examples/measure librealsense/examples/measure at master · IntelRealSense/librealsense · GitHub

[BHerl1]

Very useful! Thanks again.